fix:tcp指令统一使用DeviceCommands

src/main/java/com/qyft/gd/device/common/constant/DeviceCommands.java

@@ -14,12 +14,18 @@ public class DeviceCommands {
     /** 设置导轨机械臂的速度 */
     public static final String SET_RAIL_ARM_SPEED = "setRailArmSpeed";
 
+    /** 轨道机械臂移动停止移动 */
+    public static final String STOP_RAIL_ARM = "stopRailArm";
+
     /** 开门 */
     public static final String OPEN_DOOR = "openDoor";
 
     /** 关门 */
     public static final String CLOSE_DOOR = "closeDoor";
 
+    /** 设置门参数 */
+    public static final String SET_DOOR_PARAMS = "setDoorParams";
+
     /** 张开夹爪 */
     public static final String OPEN_CLAW = "openClaw";
 
@@ -35,9 +41,18 @@ public class DeviceCommands {
     /** 设置加液机械臂的速度 */
     public static final String SET_LIQUID_ARM_SPEED = "setLiquidArmSpeed";
 
+    /** 加液机械臂移动停止 */
+    public static final String STOP_LIQUID_ARM = "stopLiquidArm";
+
+    /** 设置夹爪 */
+    public static final String SET_CLAW_PARAMS = "setClawParams";
+
     /** 加液 */
     public static final String ADD_LIQUID = "addLiquid";
 
+    /** 设置加热位试管架拍子密封状态 */
+    public static final String SET_SEAL_LID = "setSealLid";
+
     /** 设置加液泵流量 */
     public static final String SET_FLOW_RATE = "setFlowRate";
 
@@ -56,15 +71,22 @@ public class DeviceCommands {
     /** 停止加热 */
     public static final String STOP_HEATING = "stopHeating";
 
-    /** 抬起托盘到指定高度 */
-    public static final String MOVE_TRAY_TO_HEIGHT = "moveTrayToHeight";
+    /** 抬起托盘 */
+    public static final String RAISE_TRAY = "raiseTray";
+
+    /** 放下托盘 */
+    public static final String LOWER_TRAY = "lowerTray";
+
+    /** 设置托盘电机参数 */
+    public static final String SET_TRAY_PARAMS = "setTrayParams";
+
+    /** 调整拍子存放区高度 */
+    public static final String SET_CAP_HEIGHT = "setCapHeight";
 
-    /** 设置托盘抬起速度 */
-    public static final String SET_TRAY_SPEED = "setTraySpeed";
+    /** 调整拍子存放区电机参数 */
+    public static final String SET_CAP_PARAMS = "setCapParams";
 
     /** 拍照 */
     public static final String TAKE_PHOTO = "takePhoto";
 
-    /** 触发报警 */
-    public static final String ALARM_TEST = "alarmTest";
 }

src/main/java/com/qyft/gd/device/service/DeviceService.java

@@ -2,6 +2,7 @@ package com.qyft.gd.device.service;
 
 import cn.hutool.json.JSONUtil;
 import com.qyft.gd.device.client.TcpClient;
+import com.qyft.gd.device.common.constant.DeviceCommands;
 import com.qyft.gd.device.common.jsonrpc.JsonRpcRequest;
 import com.qyft.gd.device.model.bo.DeviceFeedback;
 import jakarta.annotation.PostConstruct;
@@ -30,27 +31,26 @@ public class DeviceService {
         new Thread(this::executeTasks).start();
     }
 
-    private boolean enqueueMoveRailTask(String method) {
+    private boolean putTask(String method) {
         JsonRpcRequest request = new JsonRpcRequest();
         request.setMethod(method);
-        return this.enqueueMoveRailTask(request);
+        return this.putTask(request);
     }
 
-    private boolean enqueueMoveRailTask(String method, Map<String, Object> params) {
+    private boolean putTask(String method, Map<String, Object> params) {
         JsonRpcRequest request = new JsonRpcRequest();
         request.setMethod(method);
         request.setParams(params);
-        return this.enqueueMoveRailTask(request);
+        return this.putTask(request);
     }
 
-    private boolean enqueueMoveRailTask(JsonRpcRequest request) {
+    private boolean putTask(JsonRpcRequest request) {
         Callable<Boolean> task = () -> {
             DeviceFeedback deviceFeedback = tcpClient.sendCommand(request);
             if (deviceFeedback == null || deviceFeedback.getError() != null) {
                 log.error("TCP 指令执行错误 request:{} feedback:{}", JSONUtil.toJsonStr(request), JSONUtil.toJsonStr(deviceFeedback));
                 return false;
             }
-            Thread.sleep(5000);
             return true;
         };
         try {
@@ -74,7 +74,7 @@ public class DeviceService {
     }
 
     public boolean test() {
-        return this.enqueueMoveRailTask("moveRailArmRail", null);
+        return this.putTask("moveRailArmRail");
     }
 
     /**
@@ -85,7 +85,7 @@ public class DeviceService {
     public boolean moveRailArmRail(double distance) {
         Map<String, Object> params = new HashMap<>();
         params.put("distance", distance);
-        return this.enqueueMoveRailTask("moveRailArmRail", params);
+        return this.putTask(DeviceCommands.MOVE_RAIL_ARM_RAIL, params);
     }
 
     /**
@@ -100,7 +100,7 @@ public class DeviceService {
         params.put("joint1", joint1);
         params.put("joint2", joint2);
         params.put("distance", distance);
-        return this.enqueueMoveRailTask("moveRailArmJoint", params);
+        return this.putTask(DeviceCommands.MOVE_RAIL_ARM_JOINT, params);
     }
 
     /**
@@ -115,7 +115,7 @@ public class DeviceService {
         params.put("x", x);
         params.put("y", y);
         params.put("z", z);
-        return this.enqueueMoveRailTask("moveRailArmToPoint", params);
+        return this.putTask(DeviceCommands.MOVE_RAIL_ARM_TO_POINT, params);
     }
 
     /**
@@ -126,14 +126,14 @@ public class DeviceService {
     public boolean setRailArmSpeed(int speed) {
         Map<String, Object> params = new HashMap<>();
         params.put("speed", speed);
-        return this.enqueueMoveRailTask("setRailArmSpeed", params);
+        return this.putTask(DeviceCommands.SET_RAIL_ARM_SPEED, params);
     }
 
     /**
      * 轨道机械臂移动停止移动
      */
     public boolean stopRailArm() {
-        return this.enqueueMoveRailTask("stopRailArm");
+        return this.putTask(DeviceCommands.STOP_RAIL_ARM);
     }
 
     /**
@@ -146,7 +146,7 @@ public class DeviceService {
         Map<String, Object> params = new HashMap<>();
         params.put("joint1", joint1);
         params.put("joint2", joint2);
-        return this.enqueueMoveRailTask("moveLiquidArmJoint", params);
+        return this.putTask(DeviceCommands.MOVE_LIQUID_ARM_JOINT, params);
     }
 
     /**
@@ -161,7 +161,7 @@ public class DeviceService {
         params.put("x", x);
         params.put("y", y);
         params.put("z", z);
-        return this.enqueueMoveRailTask("moveLiquidArmToPoint", params);
+        return this.putTask(DeviceCommands.MOVE_LIQUID_ARM_TO_POINT, params);
     }
 
     /**
@@ -172,7 +172,7 @@ public class DeviceService {
     public synchronized boolean setLiquidArmSpeed(int speed) {
         Map<String, Object> params = new HashMap<>();
         params.put("speed", speed);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setLiquidArmSpeed", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_LIQUID_ARM_SPEED, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setLiquidArmSpeed 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -184,7 +184,7 @@ public class DeviceService {
      * 加液机械臂移动停止
      */
     public synchronized boolean stopLiquidArm() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("stopLiquidArm");
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.STOP_LIQUID_ARM);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP stopLiquidArm 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -196,7 +196,7 @@ public class DeviceService {
      * 张开夹爪
      */
     public synchronized boolean openClaw() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("openClaw");
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.OPEN_CLAW);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP openClaw 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -208,7 +208,7 @@ public class DeviceService {
      * 收合夹爪
      */
     public synchronized boolean closeClaw() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("closeClaw");
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.CLOSE_CLAW);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP closeClaw 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -228,7 +228,7 @@ public class DeviceService {
         params.put("mode", mode);
         params.put("speed", speed);
         params.put("targetPos", targetPos);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setClawParams", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_CLAW_PARAMS, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setClawParams 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -246,7 +246,7 @@ public class DeviceService {
         Map<String, Object> params = new HashMap<>();
         params.put("pumpId", pumpId);
         params.put("volume", volume);
-        return this.enqueueMoveRailTask("addLiquid", params);
+        return this.putTask(DeviceCommands.ADD_LIQUID, params);
     }
 
     /**
@@ -259,7 +259,7 @@ public class DeviceService {
         Map<String, Object> params = new HashMap<>();
         params.put("heaterId", heaterId);
         params.put("on", on);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setSealLid", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_SEAL_LID, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setSealLid 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -272,14 +272,14 @@ public class DeviceService {
      * 开门
      */
     public synchronized boolean openDoor() {
-        return this.enqueueMoveRailTask("openDoor");
+        return this.putTask(DeviceCommands.OPEN_DOOR);
     }
 
     /**
      * 关门
      */
     public synchronized boolean closeDoor() {
-        return this.enqueueMoveRailTask("openDoor");
+        return this.putTask(DeviceCommands.CLOSE_DOOR);
     }
 
     /**
@@ -292,7 +292,7 @@ public class DeviceService {
         Map<String, Object> params = new HashMap<>();
         params.put("speed", speed);
         params.put("targetPos", targetPos);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setDoorParams", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_DOOR_PARAMS, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setDoorParams 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -310,7 +310,7 @@ public class DeviceService {
         Map<String, Object> params = new HashMap<>();
         params.put("pumpId", pumpId);
         params.put("flowRate", flowRate);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setFlowRate", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_FLOW_RATE, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setFlowRate 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -322,7 +322,7 @@ public class DeviceService {
      * 开始摇匀
      */
     public synchronized boolean startShaking() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("startShaking");
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.START_SHAKING);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP startShaking 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -334,7 +334,7 @@ public class DeviceService {
      * 停止摇匀
      */
     public synchronized boolean stopShaking() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("stopShaking");
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.STOP_SHAKING);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP stopShaking 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -350,7 +350,7 @@ public class DeviceService {
     public synchronized boolean setShakingSpeed(int speed) {
         Map<String, Object> params = new HashMap<>();
         params.put("speed", speed);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setShakingSpeed", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_SHAKING_SPEED, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setShakingSpeed 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -366,7 +366,7 @@ public class DeviceService {
     public boolean raiseTray(String heaterId) {
         Map<String, Object> params = new HashMap<>();
         params.put("heaterId", heaterId);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("raiseTray", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.RAISE_TRAY, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP raiseTray 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -382,7 +382,7 @@ public class DeviceService {
     public boolean lowerTray(String heaterId) {
         Map<String, Object> params = new HashMap<>();
         params.put("heaterId", heaterId);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("lowerTray", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.LOWER_TRAY, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP lowerTray 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -402,7 +402,7 @@ public class DeviceService {
         params.put("heaterId", heaterId);
         params.put("speed", speed);
         params.put("targetPos", targetPos);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setTrayParams", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_TRAY_PARAMS, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setTrayParams 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -418,7 +418,7 @@ public class DeviceService {
     public synchronized boolean setCapHeight(int level) {
         Map<String, Object> params = new HashMap<>();
         params.put("level", level);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setCapHeight", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_CAP_HEIGHT, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setCapHeight 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -436,7 +436,7 @@ public class DeviceService {
         Map<String, Object> params = new HashMap<>();
         params.put("speed", speed);
         params.put("targetPos", targetPos);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("setCapParams", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.SET_CAP_PARAMS, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP setCapParams 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -454,7 +454,7 @@ public class DeviceService {
         Map<String, Object> params = new HashMap<>();
         params.put("heaterId", heaterId);
         params.put("temperature", temperature);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("startHeating", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.START_HEATING, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP startHeating 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -470,7 +470,7 @@ public class DeviceService {
     public boolean stopHeating(String heaterId) {
         Map<String, Object> params = new HashMap<>();
         params.put("heaterId", heaterId);
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("stopHeating", params);
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.STOP_HEATING, params);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP stopHeating 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;
@@ -482,7 +482,7 @@ public class DeviceService {
      * 拍照
      */
     public synchronized boolean takePhoto() {
-        DeviceFeedback deviceFeedback = tcpClient.sendCommand("takePhoto");
+        DeviceFeedback deviceFeedback = tcpClient.sendCommand(DeviceCommands.TAKE_PHOTO);
         if (deviceFeedback == null || deviceFeedback.getError() != null) {
             log.error("TCP takePhoto 指令执行错误 {}", JSONUtil.toJsonStr(deviceFeedback));
             return false;